CN114030631A - Many rotor unmanned aerial vehicle data recovery and automatic workstation that charges of plugging into at sea - Google Patents
Many rotor unmanned aerial vehicle data recovery and automatic workstation that charges of plugging into at sea Download PDFInfo
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- 238000001514 detection method Methods 0.000 claims description 14
- 238000003032 molecular docking Methods 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 7
- 230000011218 segmentation Effects 0.000 claims description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/18—Visual or acoustic landing aids
- B64F1/20—Arrangement of optical beacons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Abstract
The invention discloses a multi-rotor unmanned aerial vehicle offshore connection data recovery and automatic charging workstation which comprises a workstation, wherein the workstation comprises a support, an inclined strut structure is reinforced on the periphery of the support, a multi-rotor unmanned aerial vehicle landing platform is arranged on the support, a take-off and landing fixed charging device is carried on the multi-rotor unmanned aerial vehicle landing platform, a multi-rotor unmanned aerial vehicle is parked on the multi-rotor unmanned aerial vehicle landing platform, a sea air interface observation station is arranged below the support, the support is fixed on the sea air interface observation station through a mechanical structure, and a visual positioning mark is arranged on the upper end face of the take-off and landing fixed charging device. The landing method of the multi-rotor unmanned aerial vehicle is short in time consumption and high in parking stability and safety.
Description
Technical Field
The invention relates to the technical field of multi-rotor unmanned aerial vehicles, in particular to a multi-rotor unmanned aerial vehicle offshore connection data recovery and automatic charging workstation.
Background
Because of the advantages of the unmanned aerial vehicle and the wide application prospect, especially, the four-rotor multi-rotor unmanned aerial vehicle has the characteristics of simple structure, small volume, capability of vertical take-off and landing, and the like, not only plays an important role in military affairs, but also is greatly developed in the civil field, one of the most challenging tasks in the application of the multi-rotor unmanned aerial vehicle is the autonomous landing of the multi-rotor unmanned aerial vehicle, the traditional autonomous landing method of the multi-rotor unmanned aerial vehicle mainly comprises modes of inertial navigation, GPS navigation, INS/GPS combined navigation and the like, the inertial navigation needs integral operation, the accumulated error is larger and larger along with the increase of the operation time, the civil GPS precision is limited and the high-precision GPS cost is higher, therefore, the traditional navigation method is difficult to realize the accurate landing of the multi-rotor unmanned aerial vehicle, along with the development of Computer Vision (CV), the control and attitude estimation of the multi-rotor unmanned aerial vehicle by utilizing the image information are widely concerned by students at home and abroad, however, the existing landing method of the multi-rotor unmanned aerial vehicle needs to consume more time, and cannot well meet the real-time requirement. The invention designs a ground mark easy to identify aiming at the occasion with relatively simple landing environment, provides a mark identification algorithm based on vision, determines the position parameters of the multi-rotor unmanned aerial vehicle by utilizing the position relation between the mark centroid and the image center, and calculates the yaw angle of the multi-rotor unmanned aerial vehicle according to the course reference line. Thereby realize that many rotor unmanned aerial vehicle berth to plug into and charge with automatic.
Disclosure of Invention
The invention aims to solve the problem that a multi-rotor unmanned aerial vehicle landing method in the prior art needs to consume more time, and provides a multi-rotor unmanned aerial vehicle offshore connection data recovery and automatic charging workstation.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a many rotor unmanned aerial vehicle data recovery and automatic workstation that charges of plugging into on sea, includes the workstation, the workstation contains the support, the periphery of support is consolidated there is the bracing structure, be equipped with many rotor unmanned aerial vehicle landing platform on the support, it has the fixed charging device that takes off and land to carry on many rotor unmanned aerial vehicle landing platform, it has many rotor unmanned aerial vehicle to park on the many rotor unmanned aerial vehicle landing platform, the below of support is equipped with sea air interface observation station, the support passes through mechanical structure to be fixed on sea air interface observation station, the up end of the fixed charging device that takes off and land has set up the visual positioning sign.
Preferably, the sea-air interface observation station is provided with a plurality of solar panels, and the solar panels are uniformly distributed on the periphery of the sea-air interface observation station.
Preferably, the visual positioning mark is white as a background, and consists of a black outer circle with a radius L and a white ring with a radius ratio R/R ═ 2, and the central position consists of a black semicircle and a white semicircle and forms a boundary line.
Preferably, the working method of the data recovery and automatic charging workstation is as follows:
s: the multi-rotor unmanned aerial vehicle responds to a positioning signal sent by the workstation;
s: the multi-rotor unmanned aerial vehicle tracks the position of the workstation according to the positioning signal;
s: in the process of tracking the position of the workstation, if the workstation is detected to be in a visual field range, the receiving of a positioning signal is suspended;
s: the multi-rotor unmanned aerial vehicle moves to a landing airspace of the workstation, and the attitude of the multi-rotor unmanned aerial vehicle is adjusted in real time according to the running state of the workstation so as to keep relative static with the workstation;
s: detecting a visual positioning identifier arranged on a workstation, and determining the height of the multi-rotor unmanned aerial vehicle according to the visual positioning identifier;
s: control many rotor unmanned aerial vehicle and descend with the speed that corresponds with the height at place.
Preferably, when the multi-rotor unmanned aerial vehicle lands, the multi-rotor unmanned aerial vehicle is mainly divided into a first stage far away from the visual positioning mark and a second stage close to the visual positioning mark, and the first stage realizes the rapid descending and the approaching of the multi-rotor unmanned aerial vehicle to the visual positioning mark through detecting geometrical characteristics such as the length of the black excircle side, the area and the like; and in the second stage, the position parameters of the multi-rotor unmanned aerial vehicle are estimated according to the white concentric circles inside the mark, the yaw angle of the multi-rotor unmanned aerial vehicle is resolved by using the central course reference line, and finally the multi-rotor unmanned aerial vehicle is landed on a landing platform of the multi-rotor unmanned aerial vehicle with the visual positioning identifier according to the preset direction to implement berthing and autonomous charging.
Preferably, a multi-rotor unmanned aerial vehicle motion model is established and trained according to operation data of a manual multi-rotor unmanned aerial vehicle moving to a landing airspace of a workstation from different heights and angles; adopt many rotor unmanned aerial vehicle motion model control many rotor unmanned aerial vehicle are from the main motion.
Preferably, according to many rotor unmanned aerial vehicle place height is confirmed to the visual positioning sign, the position deviation of visual positioning sign is confirmed to the black excircle is used for many rotor unmanned aerial vehicle to independently descend the first stage, whole visual positioning sign can be caught to many rotor unmanned aerial vehicle's airborne camera this moment, along with the decline of many rotor unmanned aerial vehicle height, the airborne camera can not catch the black excircle completely, get into many rotor unmanned aerial vehicle and independently descend the second stage this moment, utilize inside white ring to confirm the position deviation of many rotor unmanned aerial vehicle and visual positioning sign, utilize the course reference line to calculate many rotor unmanned aerial vehicle yaw angle simultaneously, thereby realize many rotor unmanned aerial vehicle's segmentation and independently descend.
Preferably, the method further comprises the following steps: acquiring an original image of the visual positioning identifier by adopting an airborne camera of the multi-rotor unmanned aerial vehicle; performing image processing on an original image acquired by the camera, and extracting the characteristics of each layer of visual positioning identification in the visual positioning identification; the position of many rotor unmanned aerial vehicle of adjustment makes each layer visual positioning sign be in the center of camera field of vision.
Preferably, in the first stage, the multi-rotor unmanned aerial vehicle rapidly descends and approaches to a landing sign by detecting geometrical characteristics such as black circular radius, area and the like; and in the second stage, the position parameters of the multi-rotor unmanned aerial vehicle are estimated according to the white concentric circles inside the mark, the yaw angle of the multi-rotor unmanned aerial vehicle is resolved by using the central course reference line, and finally the multi-rotor unmanned aerial vehicle is made to fall to a landing platform with a landing mark according to a preset direction.
Compared with the prior art, the invention has the beneficial effects that:
firstly, the mark contains information required by the autonomous landing of the multi-rotor unmanned aerial vehicle, so that the landing mark can be effectively identified and the relative position of the multi-rotor unmanned aerial vehicle can be calculated;
secondly, the marks are not complex, and the real-time performance of the recognition algorithm can be ensured without complex pattern recognition and learning;
thirdly, the mark is easy to identify, other ground contours are easy to distinguish, and unpredictable errors caused by misidentification can be avoided.
The automatic electric pile that fills of wireless induction type of platform configuration that plugs into berths of many rotor unmanned aerial vehicle of design fills the electric pile automatically, fills the electric pile design for cylindrical structure, provides the spacing self-locking function of automatic thoughts of homing of plugging into of berthing for many rotor unmanned aerial vehicle simultaneously, the stability and the security that guarantee many rotor unmanned aerial vehicle berth.
The landing method of the multi-rotor unmanned aerial vehicle is short in time consumption and high in parking stability and safety.
Drawings
Fig. 1 is a schematic structural diagram of a multi-rotor unmanned aerial vehicle offshore docking data recovery and automatic charging workstation according to the present invention;
fig. 2 is a perspective view of a take-off and landing fixed charging device in an offshore docking data recovery and automatic charging workstation of a multi-rotor unmanned aerial vehicle according to the present invention;
fig. 3 is a flow chart of detection and identification of a visual positioning identifier when a multi-rotor unmanned aerial vehicle in a multi-rotor unmanned aerial vehicle offshore docking data recovery and automatic charging workstation provided by the invention lands.
In the figure: 1 support, 2 bracing structures, 3 many rotor unmanned aerial vehicle descending platforms, 4 take off and land fixed charging device, 5 many rotor unmanned aerial vehicle, 6 sea air interface observation stations, 7 visual positioning signs, 8 solar panel.
Detailed Description
The technical solutions in the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Referring to fig. 1-3, a multi-rotor unmanned aerial vehicle offshore connection data recovery and automatic charging workstation comprises a workstation, the workstation comprises a support 1, an inherent inclined strut structure 2 is added on the periphery of the support 1, a multi-rotor unmanned aerial vehicle landing platform 3 is arranged on the support 1, a take-off and landing fixed charging device 4 is arranged on the multi-rotor unmanned aerial vehicle landing platform 3, a multi-rotor unmanned aerial vehicle 5 is parked on the multi-rotor unmanned aerial vehicle landing platform 3, a sea air interface observation station 6 is arranged below the support 1, it is required to explain that the sea air interface observation station 6 is provided with a plurality of solar panels 8, the plurality of solar panels 8 are uniformly distributed around the sea air interface observation station 6, the support 1 is fixed on the sea air interface observation station 6 through a mechanical structure, a visual positioning mark 7 is arranged on the upper end face of the take-off and landing fixed charging device 4, it is required to explain that the visual positioning mark 7 takes white as background, the visual positioning mark 7 is composed of a black outer circle with the radius of L and a white ring with the radius ratio of R/R being 2, the central position of the visual positioning mark is composed of the black semi-circle and the white semi-circle and forms a boundary line, and the size of the visual positioning mark 7 is 30cm, 3cm and 1.5 cm.
In the invention, the working method of the data recovery and automatic charging workstation comprises the following steps:
s1: the multi-rotor unmanned aerial vehicle 5 responds to a positioning signal sent by the workstation;
s2: the multi-rotor unmanned aerial vehicle 5 tracks the position of the workstation according to the positioning signal;
s3: in the process of tracking the position of the workstation, if the workstation is detected to be in the visual field range, the receiving of the positioning signal is suspended;
s4: the multi-rotor unmanned aerial vehicle 5 moves to a landing airspace of the workstation, and the attitude of the multi-rotor unmanned aerial vehicle 5 is adjusted in real time according to the running state of the workstation to keep relative static with the workstation;
s5: detecting a visual positioning identifier 7 arranged on the workstation, and determining the height of the multi-rotor unmanned aerial vehicle 5 according to the visual positioning identifier 7;
s6: the multi-rotor drone 5 is controlled to descend at a speed corresponding to the altitude at which it is located.
According to the invention, the visual positioning mark 7 takes white as a background, and consists of a black outer circle with the radius of L and a white ring with the radius ratio of R/R being 2, the center position consists of the black semi-circle and the white semi-circle and forms a boundary, and it needs to be explained that when the multi-rotor unmanned aerial vehicle 5 lands, the multi-rotor unmanned aerial vehicle is mainly divided into a first stage far away from the visual positioning mark 7 and a second stage close to the visual positioning mark 7, and the first stage realizes the rapid descending and approaching of the multi-rotor unmanned aerial vehicle 5 to the visual positioning mark 7 through the detection of geometrical characteristics such as the side length and the area of the black outer circle; the second stage is estimated the position parameter of many rotor unmanned aerial vehicle 5 according to the inside white concentric circles of sign to utilize central course reference line to realize solving of many rotor unmanned aerial vehicle 5 yaw angle, finally make many rotor unmanned aerial vehicle 5 according to predetermineeing the direction and falling to have the many rotor unmanned aerial vehicle landing platform 3 implementation of visual positioning sign 7 berth and independently charge, it must mention that, according to the operation data of the landing airspace of manual operation many rotor unmanned aerial vehicle 5 from different heights and angle motion to the workstation.
In the invention, a multi-rotor unmanned aerial vehicle motion model is established and trained; adopt many rotor unmanned aerial vehicle motion model control many rotor unmanned aerial vehicle 5 autonomous motion, it needs to notice, confirm many rotor unmanned aerial vehicle 5 height of place according to visual positioning sign 7, the black excircle is used for many rotor unmanned aerial vehicle 5 to independently descend the deviation of the position of confirming visual positioning sign 7 in the first stage, whole visual positioning sign 7 can be caught to many rotor unmanned aerial vehicle 5's airborne camera this moment, along with the decline of many rotor unmanned aerial vehicle 5 height, the airborne camera can not catch the black excircle completely, get into many rotor unmanned aerial vehicle 5 and independently descend the second stage this moment, utilize the inside white ring to confirm many rotor unmanned aerial vehicle 5 and visual positioning sign 7's deviation of position, utilize the course reference line to calculate many rotor unmanned aerial vehicle 5 yaw angle simultaneously, thereby realize many rotor unmanned aerial vehicle 5's segmentation and independently descend.
The invention also comprises: acquiring an original image of the visual positioning identifier 7 by adopting an airborne camera of the multi-rotor unmanned aerial vehicle 5; processing the original image obtained by the camera, and extracting the characteristics of each layer of visual positioning identification in the visual positioning identification 7; the position of many rotor unmanned aerial vehicle 5 of adjustment makes each layer visual positioning sign be in the center in the camera field of vision.
In the invention, the detection and identification process of the landing signs when the multi-rotor unmanned aerial vehicle 5 is parked is as follows:
(1) image capture and pre-processing
Firstly, converting an RGB color image captured by an airborne camera into a gray image; secondly, in order to improve the accuracy of contour detection, thresholding is carried out on the obtained gray level image, the average gray level value of the image can be used as a threshold value according to the high contrast between the white background and the black icon of the landing mark, noise is possibly introduced in the thresholding process of the image, and a median filter can remove impulse noise and salt-pepper noise and can retain the edge information of the image at the same time, so that the invention adopts median filtering to further reduce noise of the image after threshold segmentation;
(2) outer circle detection
The detection of the landing mark is divided into two stages according to the flying height of the unmanned aerial vehicle, the first stage detects the outline of a black excircle and judges whether the outline is the landing mark according to the area-perimeter ratio of the outline and provides position parameters for the unmanned aerial vehicle; in the second stage, white concentric circles inside the black regular triangle are detected by using Hough circle transformation, whether the circles are landing signs is judged according to the radius ratio of the circles, two end points of a central course reference line are detected at the same time, and the position parameters and the yaw angle of the unmanned aerial vehicle are calculated;
(3) ring detection
The second stage landing mark detection mainly comprises three steps of concentric circle detection, concentric circle judgment and course reference line detection:
detection of concentric circles
And detecting the circle in the unmanned aerial vehicle landing mark by adopting Hough circle transformation, and identifying the concentric rings in the landing mark according to the distance between the detected circle centers of the circle. However, the Hough transformation cannot directly detect concentric circles, so that all circles are obtained through multiple detections by limiting radius parameters of the Hough transformation;
② concentric circle determination
After the similar circles are combined, two circles which are approximately concentric circles can be obtained from all the candidate circles and respectively represent the outer circle and the inner circle of the white concentric circle ring in the landing mark, and in order to avoid the situation that non-concentric circles occur due to the influence of other interference factors, the two circles obtained after the similar circles are combined are further judged. By utilizing the characteristic that the radius ratio of the white concentric rings in the unmanned aerial vehicle landing sign is 2, whether the two circles are target concentric rings or not can be determined by judging the Euclidean distance between the centers of the two circles and the radius ratio of the two circles;
detecting course reference line
After the above-mentioned concentric circles detects and judges, can obtain the required concentric circles sign of unmanned aerial vehicle autonomous landing second stage to can solve out unmanned aerial vehicle's position parameter, but can not obtain unmanned aerial vehicle's yaw angle, this development that has just restricted further fixed protection, charge continuation of the journey and removal dynamic load etc. function after unmanned aerial vehicle descends. Therefore, the yaw angle of the unmanned aerial vehicle is estimated by taking a black and white boundary line of the center of the landing sign as a heading reference line.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (9)
1. The utility model provides a many rotor unmanned aerial vehicle data recovery and automatic workstation that charges of plugging into on sea, includes the workstation, its characterized in that, the workstation contains support (1), the periphery of support (1) adds inherent bracing structure (2), be equipped with many rotor unmanned aerial vehicle landing platform (3) on support (1), it has take off and land fixed charging device (4) to carry on many rotor unmanned aerial vehicle landing platform (3), it has many rotor unmanned aerial vehicle (5) to park on many rotor unmanned aerial vehicle landing platform (3), the below of support (1) is equipped with sea air interface observation station (6), support (1) is fixed on sea air interface observation station (6) through mechanical structure, the up end of the fixed charging device (4) of taking off and land has set up visual positioning sign (7).
2. The multi-rotor unmanned aerial vehicle offshore docking data recovery and automatic charging workstation according to claim 1, wherein the sea interface observation station (6) is equipped with a plurality of solar panels (8), and the plurality of solar panels (8) are uniformly distributed around the sea interface observation station (6).
3. The multi-rotor unmanned aerial vehicle maritime docking data recovery and automatic charging workstation of claim 1, wherein the visual positioning indicator (7) is white as a background and is composed of a black outer circle with a radius L and a white ring with a radius ratio R/R of 2, and the central position is composed of a black semi-circle and a white semi-circle and forms a boundary line.
4. The multi-rotor unmanned aerial vehicle maritime docking data recovery and automatic charging workstation of claim 3, wherein the data recovery and automatic charging workstation is operated by the following method:
s1: the multi-rotor unmanned aerial vehicle (5) responds to a positioning signal sent by the workstation;
s2: the multi-rotor unmanned aerial vehicle (5) tracks the position of the workstation according to the positioning signal;
s3: in the process of tracking the position of the workstation, if the workstation is detected to be in a visual field range, the receiving of a positioning signal is suspended;
s4: the multi-rotor unmanned aerial vehicle (5) moves to a landing airspace of the workstation, and the attitude of the multi-rotor unmanned aerial vehicle (5) is adjusted in real time according to the running state of the workstation to keep relative static with the workstation;
s5: detecting a visual positioning identifier (7) arranged on a workstation, and determining the height of the multi-rotor unmanned aerial vehicle (5) according to the visual positioning identifier (7);
s6: and controlling the multi-rotor unmanned aerial vehicle (5) to descend at a speed corresponding to the height.
5. The multi-rotor unmanned aerial vehicle offshore docking data recovery and automatic charging workstation according to claim 4, wherein the multi-rotor unmanned aerial vehicle (5) is mainly divided into a first stage far away from the visual positioning identifier (7) and a second stage close to the visual positioning identifier (7) when landing, and the first stage realizes rapid descending and approaching of the multi-rotor unmanned aerial vehicle (5) to the visual positioning identifier (7) through detection of geometrical characteristics such as black excircle side length and area; and in the second stage, the position parameters of the multi-rotor unmanned aerial vehicle (5) are estimated according to the white concentric circles inside the signs, the yaw angle of the multi-rotor unmanned aerial vehicle (5) is resolved by using the central course reference line, and finally the multi-rotor unmanned aerial vehicle (5) is landed on a landing platform (3) of the multi-rotor unmanned aerial vehicle with a visual positioning identifier (7) according to the preset direction to implement berthing and autonomous charging.
6. The multi-rotor unmanned aerial vehicle offshore docking data recovery and automatic charging workstation of claim 4, wherein a multi-rotor unmanned aerial vehicle motion model is established and trained based on operational data of a manually operated multi-rotor unmanned aerial vehicle (5) moving from different heights and angles to a landing airspace of the workstation; adopt many rotor unmanned aerial vehicle motion model control many rotor unmanned aerial vehicle (5) are from moving.
7. The multi-rotor unmanned aerial vehicle offshore docking data recovery and automatic charging workstation according to claim 4, wherein the height of the multi-rotor unmanned aerial vehicle (5) is determined according to the visual positioning identifier (7), the black outer circle is used for determining the position deviation of the visual positioning identifier (7) in the first stage of autonomous landing of the multi-rotor unmanned aerial vehicle (5), the whole visual positioning identifier (7) can be captured by the airborne camera of the multi-rotor unmanned aerial vehicle (5), the black outer circle cannot be captured by the airborne camera along with the descending of the height of the multi-rotor unmanned aerial vehicle (5), the second stage of autonomous landing of the multi-rotor unmanned aerial vehicle (5) is entered, the position deviation of the multi-rotor unmanned aerial vehicle (5) and the visual positioning identifier (7) is determined by the inner white ring, and the yaw angle of the multi-rotor unmanned aerial vehicle (5) is calculated by the course reference line, thereby realize the segmentation of many rotor unmanned aerial vehicle (5) and independently descend.
8. The multi-rotor unmanned aerial vehicle marine docking data recovery and automatic charging workstation of claim 6, further comprising: acquiring an original image of the visual positioning identifier (7) by adopting an airborne camera of the multi-rotor unmanned aerial vehicle (5); performing image processing on an original image acquired by the camera, and extracting the characteristics of each layer of visual positioning identification in the visual positioning identification (7); the position of many rotor unmanned aerial vehicle (5) of adjustment makes each layer visual positioning sign be in the center of camera field of vision.
9. The multi-rotor unmanned aerial vehicle offshore docking data recovery and automatic charging workstation according to claim 5, wherein the multi-rotor unmanned aerial vehicle (5) rapidly descends and approaches a landing sign through detection of geometrical characteristics such as black circular radius, area and the like in the first stage; and in the second stage, the position parameters of the multi-rotor unmanned aerial vehicle (5) are estimated according to the white concentric circles inside the mark, the yaw angle of the multi-rotor unmanned aerial vehicle (5) is resolved by using the central course reference line, and finally the multi-rotor unmanned aerial vehicle (5) is made to fall to a landing platform with a landing mark according to a preset direction.
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